Embedded harmonic control for dynamic trajectory planning on FPGA

Bernard Girau; Amine Boumaza

inria-00119491, version 1

Embedded harmonic control for dynamic trajectory planning on FPGA

Bernard Girau () ¹, Amine Boumaza ()^a^, 2

The IASTED International Conference on Artificial Intelligence and Apllications - AIA 2006 (2007)

Abstract: This paper presents a parallel hardware implementation of a well-known navigation control method on reconfigurable digital circuits. Trajectories are estimated after an iterated computation of the harmonic functions, given the goal and obstacle positions of the navigation problem. The proposed massively distributed implementation locally computes the direction to choose to get to the goal position at any point of the environment. Changes in this environment may be immediately taken into account, for example when obstacles are discovered during an on-line exploration. The implementation results show that the proposed architecture simultaneously improves speed, power consumption, precision, and environment size.

a – Université Nancy II
1: CORTEX (INRIA Lorraine - LORIA)
INRIA – CNRS : UMR7503 – Université Henri Poincaré - Nancy I – Université Nancy II – Institut National Polytechnique de Lorraine (INPL)
2: MAIA (INRIA Lorraine - LORIA)
INRIA – CNRS : UMR7503 – Université Henri Poincaré - Nancy I – Université Nancy II – Institut National Polytechnique de Lorraine (INPL)

inria-00119491, version 1
http://hal.inria.fr/inria-00119491
oai:hal.inria.fr:inria-00119491
From: Amine Boumaza <>
Submitted on: Sunday, 10 December 2006 14:57:21
Updated on: Friday, 7 September 2007 14:18:55

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